| CPC B60Q 9/008 (2013.01) | 10 Claims |
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1. A processor-implemented method of controlling a rear warning system for a vehicle, the method comprising:
activating, at a collision prevention controller, a rear cross-traffic collision prevention function;
collecting, upon the activation of the rear cross-traffic collision prevention function, road information between the vehicle and a target vehicle present in a rear or rear side of the vehicle using at least one sensor installed in the vehicle;
determining a probability of intrusion of the target vehicle into an expected driving lane of the vehicle driven in reverse based on the collected road information, wherein the collected road information comprises at least one of a type of lane boundary line located between the vehicle and the target vehicle and presence of a road structure between the vehicle and the target vehicle, and
controlling the rear cross-traffic collision prevention function based on the probability of intrusion, in response to the vehicle being in reverse.
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